#ifndef __PLANNER_H
#define __PLANNER_H


#include <stdio.h>
#include <string.h>
#include <math.h>

#include <Arduino.h>

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"

#include "esp_types.h"
// #include "freertos/FreeRTOS.h"
// #include "freertos/queue.h"
// #include "esp_log.h"

// #define DAValArraySize 6000
#define DAValArraySize 1024
#define DAValBufSize 5
#define MotionsPerSecond 1000

extern float FeedSpeed;
extern float TravelSpeed;

#define DisFTheta 100 /* 150 */ /* 180 */ /* 150 */
#define DisXYMirror 8
#define RAD_MG_MAX 0.2618 // (15/180*pi)
#define BaseVol 5

extern QueueHandle_t PlannerQueueHandle;

extern QueueHandle_t XPlannerDAValQueueHandle;
extern QueueHandle_t YPlannerDAValQueueHandle;
extern QueueHandle_t TimesInterpolationQueueHandle;

// struct CommandBlock;


#endif /* __PLANNER_H */
